Update Embassy, to new PIO API.

7 files changed, 112 insertions, 118 deletions

diff --git a/Cargo.toml b/Cargo.toml
index c4872f423..2bb2b8d93 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -12,7 +12,7 @@ firmware-logs = []
 
 [dependencies]
 embassy-time = { version = "0.1.0" }
-embassy-sync = { version = "0.1.0" }
+embassy-sync = { version = "0.2.0" }
 embassy-futures = { version = "0.1.0" }
 embassy-net-driver-channel = { version = "0.1.0" }
 atomic-polyfill = "0.1.5"
@@ -28,11 +28,11 @@ embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.10" }
 num_enum = { version = "0.5.7", default-features = false }
 
 [patch.crates-io]
-embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
+embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
 
 [workspace]
 members = ["cyw43-pio"]
diff --git a/cyw43-pio/Cargo.toml b/cyw43-pio/Cargo.toml
index 8272903c3..dd50e02ba 100644
--- a/cyw43-pio/Cargo.toml
+++ b/cyw43-pio/Cargo.toml
@@ -8,4 +8,5 @@ cyw43 = { path = "../" }
 embassy-rp = { version = "0.1.0",  features = ["unstable-traits", "nightly", "unstable-pac", "time-driver"] }
 pio-proc = "0.2"
 pio = "0.2.1"
+fixed = "1.23.1"
 defmt = { version = "0.3", optional = true }
\ No newline at end of file
diff --git a/cyw43-pio/src/lib.rs b/cyw43-pio/src/lib.rs
index c468435f1..2c17b151a 100644
--- a/cyw43-pio/src/lib.rs
+++ b/cyw43-pio/src/lib.rs
@@ -6,30 +6,39 @@ use core::slice;
 
 use cyw43::SpiBusCyw43;
 use embassy_rp::dma::Channel;
-use embassy_rp::gpio::{Drive, Output, Pin, Pull, SlewRate};
-use embassy_rp::pio::{PioStateMachine, ShiftDirection};
+use embassy_rp::gpio::{Drive, Level, Output, Pin, Pull, SlewRate};
+use embassy_rp::pio::{Common, Config, Direction, Instance, Irq, PioPin, ShiftDirection, StateMachine};
 use embassy_rp::relocate::RelocatedProgram;
-use embassy_rp::{pio_instr_util, Peripheral};
-use pio::Wrap;
+use embassy_rp::{pio_instr_util, Peripheral, PeripheralRef};
+use fixed::FixedU32;
 use pio_proc::pio_asm;
 
-pub struct PioSpi<CS: Pin, SM, DMA> {
-    cs: Output<'static, CS>,
-    sm: SM,
-    dma: DMA,
+pub struct PioSpi<'d, CS: Pin, PIO: Instance, const SM: usize, DMA> {
+    cs: Output<'d, CS>,
+    sm: StateMachine<'d, PIO, SM>,
+    irq: Irq<'d, PIO, 0>,
+    dma: PeripheralRef<'d, DMA>,
     wrap_target: u8,
 }
 
-impl<CS, SM, DMA> PioSpi<CS, SM, DMA>
+impl<'d, CS, PIO, const SM: usize, DMA> PioSpi<'d, CS, PIO, SM, DMA>
 where
-    SM: PioStateMachine,
     DMA: Channel,
     CS: Pin,
+    PIO: Instance,
 {
-    pub fn new<DIO, CLK>(mut sm: SM, cs: Output<'static, CS>, dio: DIO, clk: CLK, dma: DMA) -> Self
+    pub fn new<DIO, CLK>(
+        common: &mut Common<'d, PIO>,
+        mut sm: StateMachine<'d, PIO, SM>,
+        irq: Irq<'d, PIO, 0>,
+        cs: Output<'d, CS>,
+        dio: DIO,
+        clk: CLK,
+        dma: impl Peripheral<P = DMA> + 'd,
+    ) -> Self
     where
-        DIO: Pin,
-        CLK: Pin,
+        DIO: PioPin,
+        CLK: PioPin,
     {
         let program = pio_asm!(
             ".side_set 1"
@@ -42,8 +51,8 @@ where
             // switch directions
             "set pindirs, 0 side 0"
             // these nops seem to be necessary for fast clkdiv
-            "nop            side 1"
-            "nop            side 0"
+            //"nop            side 1"
+            //"nop            side 0"
             "nop            side 1"
             // read in y-1 bits
             "lp2:"
@@ -59,68 +68,62 @@ where
 
         let relocated = RelocatedProgram::new(&program.program);
 
-        let mut pin_io = sm.make_pio_pin(dio);
-        pin_io.set_pull(Pull::Down);
+        let mut pin_io: embassy_rp::pio::Pin<PIO> = common.make_pio_pin(dio);
+        pin_io.set_pull(Pull::None);
         pin_io.set_schmitt(true);
         pin_io.set_input_sync_bypass(true);
+        //pin_io.set_drive_strength(Drive::_12mA);
+        //pin_io.set_slew_rate(SlewRate::Fast);
 
-        let mut pin_clk = sm.make_pio_pin(clk);
+        let mut pin_clk = common.make_pio_pin(clk);
         pin_clk.set_drive_strength(Drive::_12mA);
         pin_clk.set_slew_rate(SlewRate::Fast);
 
-        sm.write_instr(relocated.origin() as usize, relocated.code());
+        let mut cfg = Config::default();
+        cfg.use_program(&common.load_program(&relocated), &[&pin_clk]);
+        cfg.set_out_pins(&[&pin_io]);
+        cfg.set_in_pins(&[&pin_io]);
+        cfg.set_set_pins(&[&pin_io]);
+        cfg.shift_out.direction = ShiftDirection::Left;
+        cfg.shift_out.auto_fill = true;
+        //cfg.shift_out.threshold = 32;
+        cfg.shift_in.direction = ShiftDirection::Left;
+        cfg.shift_in.auto_fill = true;
+        //cfg.shift_in.threshold = 32;
 
         // theoretical maximum according to data sheet, 100Mhz Pio => 50Mhz SPI Freq
-        sm.set_clkdiv(0x0140);
+        // seems to cause random corruption, probably due to jitter due to the fractional divider.
+        // cfg.clock_divider = FixedU32::from_bits(0x0140);
 
         // same speed as pico-sdk, 62.5Mhz
-        // sm.set_clkdiv(0x0200);
+        cfg.clock_divider = FixedU32::from_bits(0x0200);
 
         // 32 Mhz
-        // sm.set_clkdiv(0x03E8);
+        // cfg.clock_divider = FixedU32::from_bits(0x03E8);
 
         // 16 Mhz
-        // sm.set_clkdiv(0x07d0);
+        // cfg.clock_divider = FixedU32::from_bits(0x07d0);
 
         // 8Mhz
-        // sm.set_clkdiv(0x0a_00);
+        // cfg.clock_divider = FixedU32::from_bits(0x0a_00);
 
         // 1Mhz
-        // sm.set_clkdiv(0x7d_00);
+        // cfg.clock_divider = FixedU32::from_bits(0x7d_00);
 
         // slowest possible
-        // sm.set_clkdiv(0xffff_00);
-
-        sm.set_autopull(true);
-        // sm.set_pull_threshold(32);
-        sm.set_autopush(true);
-        // sm.set_push_threshold(32);
-
-        sm.set_out_pins(&[&pin_io]);
-        sm.set_in_base_pin(&pin_io);
-
-        sm.set_set_pins(&[&pin_clk]);
-        pio_instr_util::set_pindir(&mut sm, 0b1);
-        sm.set_set_pins(&[&pin_io]);
-        pio_instr_util::set_pindir(&mut sm, 0b1);
-
-        sm.set_sideset_base_pin(&pin_clk);
-        sm.set_sideset_count(1);
+        // cfg.clock_divider = FixedU32::from_bits(0xffff_00);
 
-        sm.set_out_shift_dir(ShiftDirection::Left);
-        sm.set_in_shift_dir(ShiftDirection::Left);
+        sm.set_config(&cfg);
 
-        let Wrap { source, target } = relocated.wrap();
-        sm.set_wrap(source, target);
-
-        // pull low for startup
-        pio_instr_util::set_pin(&mut sm, 0);
+        sm.set_pin_dirs(Direction::Out, &[&pin_clk, &pin_io]);
+        sm.set_pins(Level::Low, &[&pin_clk, &pin_io]);
 
         Self {
             cs,
             sm,
-            dma,
-            wrap_target: target,
+            irq,
+            dma: dma.into_ref(),
+            wrap_target: relocated.wrap().target,
         }
     }
 
@@ -132,18 +135,22 @@ where
         #[cfg(feature = "defmt")]
         defmt::trace!("write={} read={}", write_bits, read_bits);
 
-        let mut dma = Peripheral::into_ref(&mut self.dma);
-        pio_instr_util::set_x(&mut self.sm, write_bits as u32);
-        pio_instr_util::set_y(&mut self.sm, read_bits as u32);
-        pio_instr_util::set_pindir(&mut self.sm, 0b1);
-        pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
+        unsafe {
+            pio_instr_util::set_x(&mut self.sm, write_bits as u32);
+            pio_instr_util::set_y(&mut self.sm, read_bits as u32);
+            pio_instr_util::set_pindir(&mut self.sm, 0b1);
+            pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
+        }
 
         self.sm.set_enable(true);
 
-        self.sm.dma_push(dma.reborrow(), write).await;
+        self.sm.tx().dma_push(self.dma.reborrow(), write).await;
 
         let mut status = 0;
-        self.sm.dma_pull(dma.reborrow(), slice::from_mut(&mut status)).await;
+        self.sm
+            .rx()
+            .dma_pull(self.dma.reborrow(), slice::from_mut(&mut status))
+            .await;
         status
     }
 
@@ -155,27 +162,32 @@ where
         #[cfg(feature = "defmt")]
         defmt::trace!("write={} read={}", write_bits, read_bits);
 
-        let mut dma = Peripheral::into_ref(&mut self.dma);
-        pio_instr_util::set_y(&mut self.sm, read_bits as u32);
-        pio_instr_util::set_x(&mut self.sm, write_bits as u32);
-        pio_instr_util::set_pindir(&mut self.sm, 0b1);
-        pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
+        unsafe {
+            pio_instr_util::set_y(&mut self.sm, read_bits as u32);
+            pio_instr_util::set_x(&mut self.sm, write_bits as u32);
+            pio_instr_util::set_pindir(&mut self.sm, 0b1);
+            pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
+        }
+
         // self.cs.set_low();
         self.sm.set_enable(true);
 
-        self.sm.dma_push(dma.reborrow(), slice::from_ref(&cmd)).await;
-        self.sm.dma_pull(dma.reborrow(), read).await;
+        self.sm.tx().dma_push(self.dma.reborrow(), slice::from_ref(&cmd)).await;
+        self.sm.rx().dma_pull(self.dma.reborrow(), read).await;
 
         let mut status = 0;
-        self.sm.dma_pull(dma.reborrow(), slice::from_mut(&mut status)).await;
+        self.sm
+            .rx()
+            .dma_pull(self.dma.reborrow(), slice::from_mut(&mut status))
+            .await;
         status
     }
 }
 
-impl<CS, SM, DMA> SpiBusCyw43 for PioSpi<CS, SM, DMA>
+impl<'d, CS, PIO, const SM: usize, DMA> SpiBusCyw43 for PioSpi<'d, CS, PIO, SM, DMA>
 where
     CS: Pin,
-    SM: PioStateMachine,
+    PIO: Instance,
     DMA: Channel,
 {
     async fn cmd_write(&mut self, write: &[u32]) -> u32 {
@@ -193,7 +205,6 @@ where
     }
 
     async fn wait_for_event(&mut self) {
-        self.sm.wait_irq(0).await;
-        self.sm.clear_irq(0);
+        self.irq.wait().await;
     }
 }
diff --git a/examples/rpi-pico-w/Cargo.toml b/examples/rpi-pico-w/Cargo.toml
index 5b46726d2..d972bf5a5 100644
--- a/examples/rpi-pico-w/Cargo.toml
+++ b/examples/rpi-pico-w/Cargo.toml
@@ -7,7 +7,7 @@ edition = "2021"
 [dependencies]
 cyw43 = { path = "../../", features = ["defmt", "firmware-logs"] }
 cyw43-pio = { path = "../../cyw43-pio", features = ["defmt"] }
-embassy-executor = { version = "0.1.0",  features = ["defmt", "integrated-timers", "executor-thread", "arch-cortex-m"] }
+embassy-executor = { version = "0.2.0",  features = ["defmt", "integrated-timers", "executor-thread", "arch-cortex-m"] }
 embassy-time = { version = "0.1.0",  features = ["defmt", "defmt-timestamp-uptime"] }
 embassy-rp = { version = "0.1.0",  features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver"] }
 embassy-net = { version = "0.1.0", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "unstable-traits", "nightly"] }
@@ -27,14 +27,14 @@ heapless = "0.7.15"
 
 
 [patch.crates-io]
-embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-net = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-net-driver = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
-embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
+embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-net = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-net-driver = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
+embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
 
 [profile.dev]
 debug = 2
diff --git a/examples/rpi-pico-w/src/bin/tcp_server.rs b/examples/rpi-pico-w/src/bin/tcp_server.rs
index 9581602a7..8accc469f 100644
--- a/examples/rpi-pico-w/src/bin/tcp_server.rs
+++ b/examples/rpi-pico-w/src/bin/tcp_server.rs
@@ -12,8 +12,8 @@ use embassy_executor::Spawner;
 use embassy_net::tcp::TcpSocket;
 use embassy_net::{Config, Stack, StackResources};
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25};
-use embassy_rp::pio::{Pio0, PioPeripheral, PioStateMachineInstance, Sm0};
+use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
+use embassy_rp::pio::Pio;
 use embedded_io::asynch::Write;
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
@@ -28,11 +28,7 @@ macro_rules! singleton {
 
 #[embassy_executor::task]
 async fn wifi_task(
-    runner: cyw43::Runner<
-        'static,
-        Output<'static, PIN_23>,
-        PioSpi<PIN_25, PioStateMachineInstance<Pio0, Sm0>, DMA_CH0>,
-    >,
+    runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
 ) -> ! {
     runner.run().await
 }
@@ -60,10 +56,8 @@ async fn main(spawner: Spawner) {
 
     let pwr = Output::new(p.PIN_23, Level::Low);
     let cs = Output::new(p.PIN_25, Level::High);
-
-    let (_, sm, _, _, _) = p.PIO0.split();
-    let dma = p.DMA_CH0;
-    let spi = PioSpi::new(sm, cs, p.PIN_24, p.PIN_29, dma);
+    let mut pio = Pio::new(p.PIO0);
+    let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
 
     let state = singleton!(cyw43::State::new());
     let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
diff --git a/examples/rpi-pico-w/src/bin/tcp_server_ap.rs b/examples/rpi-pico-w/src/bin/tcp_server_ap.rs
index e43412625..ee2c32379 100644
--- a/examples/rpi-pico-w/src/bin/tcp_server_ap.rs
+++ b/examples/rpi-pico-w/src/bin/tcp_server_ap.rs
@@ -12,8 +12,8 @@ use embassy_executor::Spawner;
 use embassy_net::tcp::TcpSocket;
 use embassy_net::{Config, Stack, StackResources};
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25};
-use embassy_rp::pio::{Pio0, PioPeripheral, PioStateMachineInstance, Sm0};
+use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
+use embassy_rp::pio::Pio;
 use embedded_io::asynch::Write;
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
@@ -28,11 +28,7 @@ macro_rules! singleton {
 
 #[embassy_executor::task]
 async fn wifi_task(
-    runner: cyw43::Runner<
-        'static,
-        Output<'static, PIN_23>,
-        PioSpi<PIN_25, PioStateMachineInstance<Pio0, Sm0>, DMA_CH0>,
-    >,
+    runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
 ) -> ! {
     runner.run().await
 }
@@ -60,10 +56,8 @@ async fn main(spawner: Spawner) {
 
     let pwr = Output::new(p.PIN_23, Level::Low);
     let cs = Output::new(p.PIN_25, Level::High);
-
-    let (_, sm, _, _, _) = p.PIO0.split();
-    let dma = p.DMA_CH0;
-    let spi = PioSpi::new(sm, cs, p.PIN_24, p.PIN_29, dma);
+    let mut pio = Pio::new(p.PIO0);
+    let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
 
     let state = singleton!(cyw43::State::new());
     let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
diff --git a/examples/rpi-pico-w/src/bin/wifi_scan.rs b/examples/rpi-pico-w/src/bin/wifi_scan.rs
index da8fadfd8..a2a44f99d 100644
--- a/examples/rpi-pico-w/src/bin/wifi_scan.rs
+++ b/examples/rpi-pico-w/src/bin/wifi_scan.rs
@@ -11,8 +11,8 @@ use defmt::*;
 use embassy_executor::Spawner;
 use embassy_net::Stack;
 use embassy_rp::gpio::{Level, Output};
-use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25};
-use embassy_rp::pio::{Pio0, PioPeripheral, PioStateMachineInstance, Sm0};
+use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
+use embassy_rp::pio::Pio;
 use static_cell::StaticCell;
 use {defmt_rtt as _, panic_probe as _};
 
@@ -26,11 +26,7 @@ macro_rules! singleton {
 
 #[embassy_executor::task]
 async fn wifi_task(
-    runner: cyw43::Runner<
-        'static,
-        Output<'static, PIN_23>,
-        PioSpi<PIN_25, PioStateMachineInstance<Pio0, Sm0>, DMA_CH0>,
-    >,
+    runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
 ) -> ! {
     runner.run().await
 }
@@ -58,10 +54,8 @@ async fn main(spawner: Spawner) {
 
     let pwr = Output::new(p.PIN_23, Level::Low);
     let cs = Output::new(p.PIN_25, Level::High);
-
-    let (_, sm, _, _, _) = p.PIO0.split();
-    let dma = p.DMA_CH0;
-    let spi = PioSpi::new(sm, cs, p.PIN_24, p.PIN_29, dma);
+    let mut pio = Pio::new(p.PIO0);
+    let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
 
     let state = singleton!(cyw43::State::new());
     let (_net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;